rail::spatial_temporal_learning::worldlib::world::World Class Reference

World configuration information. More...

#include <World.h>

List of all members.

Public Member Functions
void	addItem (const Item &item)
	Item adder.
void	addRoom (const Room &room)
	Room adder.
void	findClosestSurface (const geometry::Position &position, size_t &room_index, size_t &surface_index) const
	Closest Surface finder.
const Item &	findItem (const std::string &name) const
	Item finder (immutable).
Item &	findItem (const std::string &name)
	Item finder.
bool	findPlacementSurface (const geometry::Position &position, size_t &room_index, size_t &surface_index, size_t &placement_surface_index) const
	PlacementSurface finder.
const Room &	findRoom (const std::string &name) const
	Room finder (immutable).
Room &	findRoom (const std::string &name)
	Room finder.
const std::string &	getFixedFrameID () const
	Fixed frame ID accessor.
const Item &	getItem (const size_t index) const
	Item value accessor (immutable).
Item &	getItem (const size_t index)
	Item value accessor.
const std::vector< Item > &	getItems () const
	Items value accessor (immutable).
std::vector< Item > &	getItems ()
	Items value accessor (immutable).
size_t	getNumItems () const
	Items size accessor.
size_t	getNumRooms () const
	Rooms size accessor.
const Room &	getRoom (const size_t index) const
	Room value accessor (immutable).
Room &	getRoom (const size_t index)
	Room value accessor.
const std::vector< Room > &	getRooms () const
	Rooms value accessor (immutable).
std::vector< Room > &	getRooms ()
	Rooms value accessor.
bool	itemExists (const std::string &name) const
	Check for the existence of an Item.
bool	loadFromYaml (const std::string &file)
	Load configuration data from a YAML file.
void	removeItem (const size_t index)
	Item remover.
void	removeRoom (const size_t index)
	Room remover.
bool	roomExists (const std::string &name) const
	Check for the existence of a Room.
void	setFixedFrameID (const std::string &fixed_frame_id)
	Fixed frame ID mutator.
	World (const std::string &fixed_frame_id="")
	Create a new World.
Private Attributes
std::string	fixed_frame_id_
std::vector< Item >	items_
std::vector< Room >	rooms_

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Detailed Description

World configuration information.

A world consists of a series of rooms, surfaces, and items. Surfaces can have points of interest as well.

Definition at line 43 of file World.h.

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Constructor & Destructor Documentation

World::World

(

const std::string &

fixed_frame_id = ""

)

Create a new World.

Creates a new empty World with an optional fixed frame ID.

Parameters:

fixed_frame_id

The fixed frame ID of the World (defaults to the empty string).

Definition at line 23 of file World.cpp.

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Member Function Documentation

void World::addItem

(

const Item &

item

)

Item adder.

Add the Item to this World.

Parameters:

item	The new Item to add.

Definition at line 308 of file World.cpp.

void World::addRoom

(

const Room &

room

)

Room adder.

Add the Room to this World.

Parameters:

room	The new Room to add.

Definition at line 208 of file World.cpp.

void World::findClosestSurface	(	const geometry::Position &	position,
		size_t &	room_index,
		size_t &	surface_index
	)		const

Closest Surface finder.

Find the closest surface to the given Position in the world fixed frame.

Parameters:

position	The Position to find the closest Surface to (in the world's fixed frame).
room_index	Will be set to the Room index in the World.
surface_index	Will be set to the Surface index in the Room.

Exceptions:

std::out_of_range

Thrown if no Rooms or Surfaces exist in the World.

Definition at line 368 of file World.cpp.

const Item& rail::spatial_temporal_learning::worldlib::world::World::findItem

(

const std::string &

name

)

const

Item finder (immutable).

Find an Item with the given name. This will also check the aliases. Case is not important. If multiple items exist with the given name, the first Item is returned.

Parameters:

name	The name or alias of the Item to find.

Returns:

The Item with the given name.

Exceptions:

std::out_of_range

Thrown if no Item with the given name exists.

Item& rail::spatial_temporal_learning::worldlib::world::World::findItem

(

const std::string &

name

)

Item finder.

Find an Item with the given name. This will also check the aliases. Case is not important. If multiple items exist with the given name, the first Item is returned.

Parameters:

name	The name or alias of the Item to find.

Returns:

The Item with the given name.

Exceptions:

std::out_of_range

Thrown if no Item with the given name exists.

bool World::findPlacementSurface	(	const geometry::Position &	position,
		size_t &	room_index,
		size_t &	surface_index,
		size_t &	placement_surface_index
	)		const

PlacementSurface finder.

Find the PlacementSurface (if any) that the Position is on. This will checking the bounding range of each Surface and find the closest PlacementSurface the Position is on. Since it is likely a Position will not be on a Placement surface (e.g., from noise or floating objects), this method returns false instead of throwing an exception.

Parameters:

position	The Position to find the PlacemetSurface to (in the world's fixed frame).
room_index	Will be set to the Room index in the World.
surface_index	Will be set to the Surface index in the Room.
placement_surface_index	Will be set to the PlacemetSurface index in the Surface.

Returns:

If a valid PlacementSurface was found.

Definition at line 405 of file World.cpp.

const Room& rail::spatial_temporal_learning::worldlib::world::World::findRoom

(

const std::string &

name

)

const

Room finder (immutable).

Find a Room with the given name. This will also check the aliases. Case is not important. If multiple rooms exist with the given name, the first Room is returned.

Parameters:

name	The name or alias of the Room to find.

Exceptions:

std::out_of_range

Thrown if no PointOfInterest with the given name exists.

Room& rail::spatial_temporal_learning::worldlib::world::World::findRoom

(

const std::string &

name

)

Room finder.

Find a Room with the given name. This will also check the aliases. Case is not important. If multiple rooms exist with the given name, the first Room is returned.

Parameters:

name	The name or alias of the Room to find.

Exceptions:

std::out_of_range

Thrown if no Room with the given name exists.

const string & World::getFixedFrameID

(

)

const

Fixed frame ID accessor.

Get the fixed frame ID this World.

Returns:

The fixed frame ID of this World.

Definition at line 159 of file World.cpp.

const Item & World::getItem

(

const size_t

index

)

const

Item value accessor (immutable).

Get the Item of this World at the given index.

Parameters:

i	The index of the Item to get.

Returns:

The Item at the given index.

Exceptions:

std::out_of_range

Thrown if the Item at the given index does not exist.

Definition at line 284 of file World.cpp.

Item & World::getItem

(

const size_t

index

)

Item value accessor.

Get the Item of this World at the given index.

Parameters:

i	The index of the Item to get.

Returns:

The Item at the given index.

Exceptions:

std::out_of_range

Thrown if the Item at the given index does not exist.

Definition at line 296 of file World.cpp.

const vector< Item > & World::getItems

(

)

const

Items value accessor (immutable).

Get the items of this World.

Returns:

The items.

Definition at line 269 of file World.cpp.

vector< Item > & World::getItems

(

)

Items value accessor (immutable).

Get the items of this World.

Returns:

The items.

Definition at line 274 of file World.cpp.

size_t World::getNumItems

(

)

const

Items size accessor.

Get the number of items of this World.

Returns:

The number of items of this World.

Definition at line 279 of file World.cpp.

size_t World::getNumRooms

(

)

const

Rooms size accessor.

Get the number of rooms of this World.

Returns:

The number of rooms of this World.

Definition at line 179 of file World.cpp.

const Room & World::getRoom

(

const size_t

index

)

const

Room value accessor (immutable).

Get the Room of this World at the given index.

Parameters:

i	The index of the Room to get.

Returns:

The Room at the given index.

Exceptions:

std::out_of_range

Thrown if the Room at the given index does not exist.

Definition at line 184 of file World.cpp.

Room & World::getRoom

(

const size_t

index

)

Room value accessor.

Get the Room of this World at the given index.

Parameters:

i	The index of the Room to get.

Returns:

The Room at the given index.

Exceptions:

std::out_of_range

Thrown if the Room at the given index does not exist.

Definition at line 196 of file World.cpp.

const vector< Room > & World::getRooms

(

)

const

Rooms value accessor (immutable).

Get the rooms of this World.

Returns:

The rooms.

Definition at line 169 of file World.cpp.

vector< Room > & World::getRooms

(

)

Rooms value accessor.

Get the rooms of this World.

Returns:

The rooms.

Definition at line 174 of file World.cpp.

bool World::itemExists

(

const std::string &

name

)

const

Check for the existence of an Item.

Check for the existence of an Item in the World. This will also check the aliases. Case is not important.

Parameters:

name	The name or alias of the Item to find.

Returns:

If the Item exists.

Exceptions:

std::out_of_range

Thrown if no Room with the given name exists.

Definition at line 325 of file World.cpp.

bool World::loadFromYaml

(

const std::string &

file

)

Load configuration data from a YAML file.

Load world configuration information from the given YAML file. This will attempt to load Pose data from a TF client and thus should only be run on a live system.

Parameters:

file	The name of the YAML file to load.

Returns:

True if configuration data was successfully loaded.

Definition at line 27 of file World.cpp.

void World::removeItem

(

const size_t

index

)

Item remover.

Remove the Item at the given index. An invalid index results in no effect.

Parameters:

i	The index of the Item pose to remove.

Exceptions:

std::out_of_range

Thrown if the Item at the given index does not exist.

Definition at line 313 of file World.cpp.

void World::removeRoom

(

const size_t

index

)

Room remover.

Remove the Room at the given index. An invalid index results in no effect.

Parameters:

i	The index of the Room pose to remove.

Exceptions:

std::out_of_range

Thrown if the Room at the given index does not exist.

Definition at line 213 of file World.cpp.

bool World::roomExists

(

const std::string &

name

)

const

Check for the existence of a Room.

Check for the existence of a Room in the World. This will also check the aliases. Case is not important.

Parameters:

name	The name or alias of the Room to find.

Exceptions:

std::out_of_range

Thrown if no Room with the given name exists.

Definition at line 225 of file World.cpp.

void World::setFixedFrameID

(

const std::string &

fixed_frame_id

)

Fixed frame ID mutator.

Set the fixed frame ID this World to the given value.

Parameters:

The	new fixed frame ID value of this World.

Definition at line 164 of file World.cpp.

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Member Data Documentation

std::string rail::spatial_temporal_learning::worldlib::world::World::fixed_frame_id_ [private]

The fixed frame of the world.

Definition at line 330 of file World.h.

std::vector<Item> rail::spatial_temporal_learning::worldlib::world::World::items_ [private]

Item information for the world.

Definition at line 334 of file World.h.

std::vector<Room> rail::spatial_temporal_learning::worldlib::world::World::rooms_ [private]

Room information for the world.

Definition at line 332 of file World.h.

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The documentation for this class was generated from the following files:

• World.h
• World.cpp